basic homing

diff --git a/src/libs/StepperMotor.cpp b/src/libs/StepperMotor.cpp
index 831ae11..0594790 100644 (file)
--- a/src/libs/StepperMotor.cpp
+++ b/src/libs/StepperMotor.cpp
@@ -92,7 +92,7 @@ inline void StepperMotor::update_exit_tick(){
 // Instruct the StepperMotor to move a certain number of steps
 void StepperMotor::move( bool direction, unsigned int steps ){
    
-    //printf("stepper move %p moving %u steps\r\n", this, steps);
+    printf("stepper move %p moving %u steps\r\n", this, steps);
 
     // We do not set the direction directly, we will set the pin just before the step pin on the next tick 
     this->direction_bit = direction;

diff --git a/src/main.cpp b/src/main.cpp
index 0874a52..cc8d6cb 100644 (file)
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -9,6 +9,7 @@
 #include "modules/tools/laser/Laser.h"
 //#include "modules/tools/extruder/Extruder.h"
 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
+#include "modules/tools/endstops/Endstops.h"
 #include "modules/robot/Player.h"
 #include "modules/utils/simpleshell/SimpleShell.h"
 #include "modules/utils/configurator/Configurator.h"
@@ -37,6 +38,7 @@ int main() {
     kernel->add_module( new CurrentControl() );
     kernel->add_module( new TemperatureControlPool() );
     kernel->add_module( new PauseButton() );   
+    kernel->add_module( new Endstops() );
 
     //kernel->add_module( &cdcmsc );
    

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index e69de29..84c4b3a 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -0,0 +1,65 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+      Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "modules/communication/utils/Gcode.h"
+#include "modules/robot/Player.h"
+#include "Endstops.h"
+#include "libs/nuts_bolts.h"
+#include "libs/StepperMotor.h"
+#include "wait_api.h" // mbed.h lib
+
+Endstops::Endstops(){
+    this->status = NOT_HOMING;
+}
+
+void Endstops::on_module_loaded() {
+    this->register_for_event(ON_GCODE_RECEIVED);
+
+    // Take StepperMotor objects from Robot and keep them here
+    this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
+    this->steppers[1] = this->kernel->robot->beta_stepper_motor;
+    this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
+
+}
+
+
+// Start homing sequences by response to GCode commands
+void Endstops::on_gcode_received(void* argument){
+    Gcode* gcode = static_cast<Gcode*>(argument);
+    if( gcode->has_letter('G' )){
+        if( gcode->get_value('G') == 28 ){
+            // G28 is received, we have homing to do  
+
+            // First wait for the queue to be empty
+            while(this->kernel->player->queue.size() > 0) { wait_us(500); }
+
+            // Do we move select axes or all of them
+            bool home_all_axes = true;
+            if( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ){ home_all_axes = false; }
+           
+            // Start moving the axes to the origin
+            this->status = MOVING_TO_ORIGIN_FAST; 
+            for( char c = 'X'; c <= 'Z'; c++ ){
+                if( home_all_axes || gcode->has_letter(c) ){
+                    this->steppers[c - 'X']->move(0,10000000); 
+                    this->steppers[c - 'X']->set_speed(1); 
+                }
+            }
+
+            // Wait for all axes to have homed
+
+
+
+            // Homing is done
+            this->status = NOT_HOMING;
+        
+        }
+    }
+}
+

diff --git a/src/modules/tools/endstops/Endstops.h b/src/modules/tools/endstops/Endstops.h
index e69de29..9fb10e6 100644 (file)
--- a/src/modules/tools/endstops/Endstops.h
+++ b/src/modules/tools/endstops/Endstops.h
@@ -0,0 +1,48 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+      Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#ifndef ENDSTOPS_MODULE_H
+#define ENDSTOPS_MODULE_H
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "modules/communication/utils/Gcode.h"
+#include "libs/StepperMotor.h"
+
+#define ALPHA_AXIS 0
+#define BETA_AXIS  1
+#define GAMMA_AXIS 2
+
+#define NOT_HOMING 0
+#define MOVING_TO_ORIGIN_FAST 1
+
+class Endstops : public Module{
+    public:
+        Endstops();
+        void on_module_loaded();
+        void on_gcode_received(void* argument);
+
+        StepperMotor* steppers[3];
+};
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#endif